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Modelling robot manipulators with multivariate B-splines

Published online by Cambridge University Press:  01 May 1999

Colin G. Johnson  and
Duncan Marsh
Colin G. Johnson
Affiliation:
Department of Computer Science, University of Exeter, The Old Library, Prince of Wales Road, Exeter, EX4 4PT, UK (E-mail: colin@dcs.ex.ac.uk, WWW: http://www.dcs.ex.ac.uk/~colin)
Duncan Marsh
Affiliation:
Department of Mathematics, Napier University, 219 Colinton Road, Edinburgh, EH14 1DJ, UK
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Abstract

In programming robot manipulators to carry out a wide variety of tasks it would be desirable to create a CAD system in which these tasks can be programmed at the task level, leaving the fine-grained detail of path planning and collision detection to the system. This paper describes the theoretical background to such a system, by providing a model in which robot motions are represented using multivariate B-splines, a standard representation for free-form shapes in the CAD environment. The paper also describes algorithms which take this representation and apply it to collision detection and path-planning.

Keywords

B-splinesModelling robotsCAD systemsCollision detectionPath-planning
Type
Research Article
Information
Robotica , Volume 17 , Issue 3 , May 1999 , pp. 239 - 247
Copyright
© 1999 Cambridge University Press

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